Since R2-D2's memory was not erased at the end of Episode III, there is absolutely no reason why R2-D2 wouldn't recognize Yoda when they look for him on Dagobah. When you look at the scene now, it's pretty strange considering R2 definitely should recognize him. It's not like there are a millions little green men with that distinct voice in the universe.

Of course, George Lucas could've had an easy out if he simply had R2's memory erased at the end of Episode III, like he did with C-3PO, but he had a very good reason for making sure R2's memory was NEVER erased. According to Lucas, the Droids are an essential part of the Saga itself, and R2 in particular is vital, because Lucas's intention was that the story itself was being told through a narrator who was there for the whole thing, and that Narrator is none other than R2-D2.

WIth R2-D2 as the Narrator, it's critical that he not only survives every story, but that his memories of the events are never wiped out. Of course, this also means that as the Narrator, R2 has a tendency to see himself as a hero, which isn't all that far fetched. R2 saves the day at least once or twice per Episode.

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